A Novel Mathematical Formulation for Predicting Symmetric Passive Bipedal Walking Motion with Unbalanced Masses

P Mahmoodi, RS Ransing & MI Friswell (Swansea University)

Applied Mathematical Modelling, Vol. 40, No. 5-6, March 2016, pp. 3895-3906


Commercial prosthetic feet weigh about 25% of their equivalent physiological counterparts. The human body is able to overcome the walking asymmetry resulting from this mass imbalance by exerting more energy. It is hypothesised that the passive walking dynamics coupled with roll-over shapes has potential to suggest energy efficient walking solutions. A two link passive walking kinematic model has been proposed to study the gait pattern with unbalanced leg masses. An optimal roll-over shape for the prosthetic foot that minimises the asymmetry in the inter-leg angle and the step period is determined. The proposed mathematical formulation provides insights into the variation of step length and inter-leg angle with respect to the position and location of the centres for mass of both prosthetic and physiological legs.

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This material has been published in the Applied Mathematical Modelling, Vol. 40, No. 5-6, March 2016, pp. 3895-3906, the only definitive repository of the content that has been certified and accepted after peer review. Copyright and all rights therein are retained by Elsevier.

Link to paper using doi: 10.1016/j.apm.2015.10.051

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